CN111845308A

CN111845308A - Transport vehicle and drive module thereof

Info

Publication number: CN111845308A
Application number: CN201910361572.5A
Authority: CN
Inventors: 何立恒; 白寒; 曹嘉彬; 吕王彪
Original assignee: Hangzhou Hikrobot Technology Co Ltd
Current assignee: Hangzhou Hikrobot Technology Co Ltd
Priority date: 2019-04-30
Filing date: 2019-04-30
Publication date: 2020-10-30

Abstract

The invention discloses a driving module of a transport vehicle, which comprises a rotary bearing (100), a driving motor (200) and a driving wheel, wherein the driving motor (200) is in driving connection with the driving wheel, the driving wheel and the driving motor (200) are both arranged in an inner ring (110) of the rotary bearing (100), the driving motor (200) is connected with the inner ring (110), and part of the driving wheel extends out of a bottom end port of the inner ring (110). The problem that the existing transport vehicle is unstable in advancing can be solved by the scheme. The invention also discloses a transport vehicle.

Description

Transport vehicle and drive module thereof

Technical Field

The invention relates to the technical field of transport vehicles, in particular to a transport vehicle and a drive module thereof.

Background

An AGV (Automated Guided Vehicle) is a Vehicle that is provided with an automatic guide device and can travel along a planned route. AGV vehicles have good mobility and are therefore increasingly favored by users.

The AGV comprises a driving module, wherein the driving module is a power driving mechanism for the AGV to walk, and the AGV can travel. The traveling performance of the AGV is an important index for evaluating the quality of the AGV. The drive module of present AGV car highly great can lead to the frame support height to the AGV car great from this to, under this kind of condition, is in the condition of load at the AGV car, higher drive module is unfavorable for the steady of AGV car and marchs. The prior AGV has the problem of unstable running. Of course, other types of transport vehicles, not limited to AGV vehicles, may also suffer from the same problems.

Disclosure of Invention

The invention discloses a transport vehicle and a drive module thereof, which are used for solving the problem of unstable advancing of the existing transport vehicle.

In order to solve the problems, the invention adopts the following technical scheme:

the driving module of the transport vehicle comprises a rotary bearing, a driving motor and a driving wheel, wherein the driving motor is connected with the driving wheel in a driving mode, the driving wheel and the driving motor are arranged in an inner ring of the rotary bearing, the driving motor is connected with the inner ring, and the driving wheel partially extends out of a bottom end port of the inner ring.

The transport vehicle comprises a vehicle frame and a driving module arranged on the vehicle frame, wherein the driving module is the driving module.

The technical scheme adopted by the invention can achieve the following beneficial effects:

the driving module disclosed by the invention improves the structure of the existing driving module, and the driving wheel and the driving motor are arranged in the space surrounded by the inner ring of the slewing bearing, so that the driving wheel partially extends into the inner ring, the supporting height of the driving module can be further reduced, and the height of a frame of a transport vehicle can be reduced.

Meanwhile, the driving wheel and the driving motor are arranged in the inner ring of the slewing bearing, and the space of the slewing bearing can be fully utilized to arrange parts, so that the driving module is more compact in structure and smaller in size.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic structural diagram of a driving module according to an embodiment of the present invention;

fig. 2 is an exploded view of a part of the structure of a driving module according to an embodiment of the present invention;

fig. 3 is a schematic partial structural diagram of a driving module according to an embodiment of the present invention.

Description of reference numerals:

100-slewing bearing, 110-inner ring, 120-outer ring,

200-a driving motor,

300-supporting rollers,

400-first base, 410-base plate, 420-articulated shaft,

500-second base, 510-support, 511-mounting hole, 520-wear-resistant sleeve,

600-speed reducer,

700-accommodation space.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The technical solutions disclosed in the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

Referring to fig. 1 to fig. 3, an embodiment of the present invention discloses a driving module of a transport vehicle, where the disclosed driving module is used to drive the transport vehicle. The disclosed driving module includes a slewing bearing 100, a driving motor 200, and a driving wheel.

The slewing bearing 100 includes an inner ring 110 and an outer ring 120, and of course, rolling elements are disposed between the inner ring 110 and the outer ring 120, and the rolling elements may be balls, rollers, or the like, and the rolling elements can realize relative rotation between the inner ring 110 and the outer ring 120. The outer ring 120 of the slewing bearing 100 can be connected with the frame of the transport vehicle, so that the slewing bearing 100 is connected with the frame of the transport vehicle, the slewing bearing 100 can realize the rotating connection between the driving module and the frame of the transport vehicle, and the steering of the transport vehicle in the advancing process is facilitated.

The driving motor 200 may be coupled to the inner race 110 of the slew bearing 100 to thereby accomplish the installation of the driving motor 200. The driving motor 200 is connected with the driving wheel, and the driving motor 200 can drive the driving wheel to roll, so that the rolling advancing of the driving module is realized, and the aim of driving the whole transport vehicle to advance is finally achieved.

In the embodiment of the present invention, both the driving wheel and the driving motor 200 are disposed in the inner ring 110 of the slewing bearing 100, that is, the driving wheel and the driving motor 200 are located in the space enclosed by the inner ring 110, and of course, the driving wheel portion may extend out of the bottom end port of the inner ring 110, so that the driving wheel can make rolling contact with the ground. It should be noted that, in the embodiment of the present invention, the bottom end port of inner ring 110 refers to a port on inner ring 110 facing the ground.

The driving module disclosed by the embodiment of the invention improves the structure of the existing driving module, and the driving wheel and the driving motor 200 are arranged in the space surrounded by the inner ring 110 of the slewing bearing 100, so that the driving wheel partially extends into the inner ring 110, the supporting height of the driving module can be further reduced, the height of a frame of a transport vehicle can be reduced, and under the condition, the gravity center of the transport vehicle can be reduced, and the advancing stability of the transport vehicle in the loading process can be improved.

Meanwhile, the driving wheel and the driving motor 200 are disposed in the inner race 110 of the slewing bearing 100, and the space of the slewing bearing 100 itself can be fully utilized to perform layout of parts, so that the structure of the driving module can be more compact and the volume can be smaller.

In order to improve the stability of the support and further improve the stability of the traveling of the transport vehicle, in a preferred embodiment, the driving module disclosed in the embodiment of the present invention may include two supporting rollers 300, and at least one of the two supporting rollers 300 is the driving wheel described above. The two support rollers 300 are generally arranged side by side.

In order to improve the driving capability, in a more preferable scheme, both the two support rollers 300 may be driving wheels, the number of the driving motors 200 may also be two, and both the two support rollers 300 partially extend out of the bottom end port of the inner ring 110, so as to realize the support. The two driving motors 200 may be respectively in transmission connection with the two driving wheels, so as to be capable of driving the corresponding driving wheels to operate, which is beneficial to improving the driving capability of the driving module, and of course, each driving motor 200 may be in driving connection with the corresponding driving wheel through the speed reducer 600. On the premise of the structure, the two driving motors 200 can drive the two driving wheels in a differential mode, the two driving wheels can realize the rotation of the inner ring 110 relative to the outer ring 120 in the process of differential advancing, and the inner ring 110 can drive the driving wheels and the driving motors 200 to rotate relative to the frame of the transport vehicle due to the fact that the outer ring 120 is connected with the frame of the transport vehicle, so that the transport vehicle can be steered.

Of course, it may also be: one of the two supporting rollers 300 is the driving wheel described above, and the other one is the follower wheel, which has no driving capability, and in the specific working process, the driving motor 200 drives the driving wheel to roll, and the follower wheel follows the rolling.

On the premise that the driving module includes two supporting rollers 300, please refer to fig. 1-3 again, in a more preferred scheme, the driving module disclosed in the embodiment of the present invention may further include a first base 400, the first base 400 may also be disposed in the inner ring 110, at least one of the driving motor 200, the speed reducer 600 and the supporting rollers 300 may be connected to the first base 400, and the first base 400 may be hinged to the inner ring 110 so as to be capable of swinging relative to the inner ring 110. The two support rollers 300 are swingable with the first base 400, and the two support rollers 300 are respectively located at both sides of the hinge axis of the first base 400 to realize floating support, and the hinge axis of the first base 400 is also the swing axis of the first base 400. Since the driving motor 200 is drivingly connected to the driving wheel through the decelerator 600, the driving motor 200 and the decelerator 600 may also swing together with the two supporting rollers 300 along with the first base 400. In this case, it is needless to say that the drive motor 200 is indirectly connected to the inner race 110 via the first base 400.

As described above, the outer race 120 of the slewing bearing 100 is connected to the frame of the transportation vehicle, and since the first base 400 can swing with respect to the inner race 110, which is equivalent to that the two support rollers 300 can swing with respect to the frame of the transportation vehicle, the two support rollers 300 are respectively located at both sides of the swing axis of the first base 400 to realize floating support, and further, when the ground on which the transportation vehicle travels is uneven, the two support rollers 300 can swing to float in a see-saw manner with respect to the frame, and thus can simultaneously contact the ground, and the suspension phenomenon of the individual support rollers 300 can be avoided. Since the suspension of the supporting rollers 300 can be avoided, the transportation vehicle can be prevented from deviating or slipping, and the traveling performance of the transportation vehicle can be improved.

In order to facilitate the hinge fitting, the driving module disclosed in the embodiment of the present invention may further include a second base 500, the second base 500 may be disposed in the inner ring 110, the second base 500 may be fixed to the inner ring 110, and the first base 400 is hinged to the second base 500, in which case, the first base 400 is hinged to the second base 500, so as to achieve the indirect hinge fitting with the inner ring 110.

Since the first base 400 is hinged to the second base 500 and the second base 500 is fixedly connected to the inner race 110, the first base 400 can still swing with respect to the inner race 110, and since the driving motor 200 and the two supporting rollers 300 are connected to the first base 400, the two supporting rollers 300 can swing.

In addition, both the first base 400 and the second base 500 may be disposed in the inner race 110, and thus, based on the above-described preferred embodiment, the volume of the entire drive module can be further reduced, making the structure of the drive module more compact.

The structures of the first base 400 and the second base 500 may be various, and any structure capable of realizing the above functions may be applied to the driving module disclosed in the embodiment of the present invention. The embodiment of the invention discloses a first base part 400 and a second base part 500 with specific structures, which are as follows: the first base 400 may include two base plates 410 and hinge shafts 420 fixed to the base plates 410, with the hinge shafts 420 being fixed to each of the base plates 410. The driving motor 200 is connected to the base plate 410. In a preferred embodiment, the base plate 410 and the hinge shaft 420 may be formed as an integral structure, thereby facilitating assembly. Specifically, the driving motor 200 may be fixed on the substrate 410 by a screw fastening method, a clamping fastening method, or the like.

The second base 500 may include two holders 510 oppositely disposed on the inner ring 110, each holder 510 may be opened with a mounting hole 511, and the hinge shaft 420 is rotatably connected with the corresponding mounting hole 511, thereby enabling the hinge connection between the first base 400 and the second base 500. Specifically, the support 510 may be fixed to the inner ring 110 by a screw thread, a snap fit, or the like. The axis of the hinge shaft 420 is the hinge axis of the first base 400.

In the above preferred embodiment, the first base 400 and the second base 500 are divided into two independent parts, which certainly makes the layout of the components in the driving module more flexible and facilitates the assembly in the space surrounded by the inner ring 110.

In order to alleviate the wear, in a more preferable scheme, a wear-resistant sleeve 520 may be installed in the installation hole 511, and in particular, the wear-resistant sleeve 520 may be installed by interference fit with the installation hole 511. The hinge shaft 420 is rotatably engaged with the wear sleeve 520. The wear-resistant sleeve 520 is made of a wear-resistant material, which can prevent the hinge shaft 420 from directly wearing the mounting hole 511, which can certainly prolong the service life of the driving module. In particular, the wear sleeve 520 may be a copper sleeve. Of course, the wear-resistant sleeve 520 may also be made of other wear-resistant materials, and the embodiment of the present invention does not limit the specific material of the wear-resistant sleeve 520.

As described above, the driving module may include two supporting rollers 300, each of the two supporting rollers 300 may be a driving wheel, and accordingly, the number of the driving motors 200 may also be two, and each of the two driving motors 200 may be in transmission connection with the corresponding driving wheel through the speed reducer 600. On this basis, in order to improve the utilization rate of the space in the inner race 110, in a more preferable embodiment, two driving motors 200 may be disposed in the accommodating space 700 enclosed by the two base plates 410 and the two reducers 600. As shown in fig. 1 and 2, the two base plates 410 are disposed opposite to each other, the two reducers 600 are disposed opposite to each other, and the two base plates 410 and the two reducers 600 can form a square-like accommodating space 700. Specifically, the adjacent base plates 410 and the speed reducer 600 may be fixedly connected by a threaded connection. Specifically, two support rollers 300 may be symmetrically disposed at both sides of the hinge axis of the first base 400, thereby achieving more uniform support.

As described above, the driving motor 200 may be connected to the substrate 410, specifically, the driving motor 200 may be directly connected to the substrate 410, or may be connected to the substrate 410 through the corresponding speed reducer 600, specifically, the speed reducer 600 is fixedly connected to the substrate 410, and the driving motor 200 is in transmission connection with the speed reducer 600, so as to achieve the purpose that the driving motor 200 is indirectly connected to the substrate 410.

In a specific working process, the two supporting rollers 300 can swing along with the first base 400, so that better adaptation to uneven ground can be realized, and suspension of the supporting rollers 300 is avoided. In order to improve the adaptability to uneven ground, in a more preferable scheme, both the two supporting rollers 300 may be disposed outside the accommodating space 700, so that the distance between the two supporting rollers 300 can be increased, the swing amplitude of the two supporting rollers 300 can be appropriately increased, and the adaptability to uneven ground can be further improved.

Based on the driving module disclosed by the embodiment of the invention, the embodiment of the invention discloses a transport vehicle which comprises a vehicle frame and the driving module arranged on the vehicle frame, wherein the driving module is the driving module described in the embodiment.

As described above, the driving module can drive the whole transportation vehicle to travel, and at the same time, the driving module can also play a role of supporting the vehicle frame on the ground.

In order to improve the driving performance of the transport vehicle, in a preferred scheme, the frame may include four corners, the number of the driving modules may be four, and the four driving modules may be respectively disposed on the four corners, so that the transport vehicle can be driven more optimally.

Of course, the number of the driving modules may be two, the two driving modules may be respectively disposed at two corners diagonally disposed in the four corners, the transportation vehicle may further include two universal wheels, and the two universal wheels are respectively disposed at two other corners diagonally disposed in the four corners. Under the condition, the two universal wheels and the two driving modules support the frame together, the two driving modules perform driving, the two universal wheels also play a supporting role, and the two universal wheels can be well suitable for steering of the transport vehicle.

Of course, the embodiment of the invention does not limit the number of the driving modules and the specific arrangement mode of the driving modules on the frame.

In the above embodiments of the present invention, the difference between the embodiments is mainly described, and different optimization features between the embodiments can be combined to form a better embodiment as long as they are not contradictory, and further description is omitted here in view of brevity of the text.

The above description is only an example of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. The utility model provides a drive module of transport vechicle, its characterized in that includes slew bearing (100), driving motor (200) and drive wheel, driving motor (200) with the drive wheel drive links to each other, the drive wheel with driving motor (200) all set up in slew bearing (100) inner circle (110), driving motor (200) with inner circle (110) link to each other, the drive wheel part stretches out outside the bottom port of inner circle (110).

2. The drive module according to claim 1, characterized in that the drive module comprises two support rollers (300), at least one of the two support rollers (300) being the drive wheel.

3. The drive module according to claim 2, wherein both of the two support rollers (300) are the drive wheels, the number of the drive motors (200) is two, and the two drive motors (200) are in transmission connection with the two drive wheels respectively; alternatively, one of the two support rollers (300) is the drive wheel, and the other is the follower wheel.

4. The drive module according to claim 3, further comprising a first base (400), wherein the first base (400) is disposed in the inner ring (110), wherein at least one of the drive motor (200) and the support rollers (300) is connected to the first base (400), wherein the first base (400) is hinged to the inner ring (110), wherein the two support rollers (300) are swingable with the first base (400), and wherein the two support rollers (300) are respectively located on both sides of a hinge axis of the first base (400) to realize floating support.

5. The drive module according to claim 4, further comprising a second base (500), the second base (500) being fixed to the inner ring (110), the first base (400) being hinged with the second base (500).

6. The drive module according to claim 5, wherein the first base (400) comprises two base plates (410) and hinge shafts (420) fixed to the base plates (410), the drive motor (200) is connected to the base plates (410), the second base (500) comprises two supports (510) oppositely arranged on the inner ring (110), each support (510) is provided with a mounting hole (511), the hinge shafts (420) are rotatably connected to the corresponding mounting holes (511), and the axes of the hinge shafts (420) are the hinge axes.

7. The drive module according to claim 6, characterized in that a wear sleeve (520) is mounted in the mounting hole (511), the hinge shaft (420) being in rotational engagement with the wear sleeve (520).

8. The drive module according to claim 6, characterized in that the drive motor (200) is connected to the base plate (410) by means of a respective reducer (600).

9. The drive module according to claim 8, wherein two drive motors (200) are disposed within a receiving space (700) enclosed by two base plates (410) and two reducers (600), and two support rollers (300) are symmetrically disposed at both sides of the hinge axis.

10. The drive module according to claim 9, wherein both of the support rollers (300) are disposed outside the accommodation space (700).

11. Transport vehicle, characterized in that it comprises a frame and a drive module arranged on the frame, the drive module being a drive module according to any one of claims 1-10.

12. The transporter according to claim 11, wherein:

the frame comprises four corners, the number of the driving modules is four, and the four driving modules are respectively arranged on the four corners;

Or, the number of the driving modules is two, the two driving modules are respectively arranged on two diagonally arranged corners in the four corners, the transport vehicle further comprises two universal wheels, and the two universal wheels are respectively arranged on the other two diagonally arranged corners in the four corners.